Servotronix CDHD - Page 233

CDHD Variables and Commands
VarCom Reference Manual 233
MJ
Definition Rotor Inertia
Type Variable (R/W)
Description Gets/sets the motor’s rotor inertia (rotary motors).
The motor rotor inertia (MJ) and the load moment of inertia
ratio (LMJR) define the total system moment of inertia.
The variables MJ and LMJR are used by the HD position
controller POSCONTROLMODE 1) and the standard pole-
placement velocity controller (POSCONTROLMODE 0,
VELCONTROLMODE 2 and 4) to determine the controller
gain.
When the value of MJ is changed, CONFIG is required.
Syntax Read: MJ
Write: MJ <value>
Firmware 1.0.6
Drive status Disabled
Range 0.000 to 2000000.000
Default value 0.02
Unit kg×m
2
×10
-3
Non-volatile Yes
See also LMJR
MKT
VELCONTROLMODE
CANopen 2037h, sub-index 0